On-orbit servicing tool fixture

Abstract

The application relates to the field of aerospace technology, in particular to an on-orbit service tool fixing device, which comprises a base, a limiting mechanism, a locking piece and a pyrotechnic cutter. The limiting mechanism is arranged on the base and limits the tool on the base by being connected with the tool. The limiting mechanism comprises a fixed limiting part and a movable limiting part, and the movable limiting part is used for detachably connecting the tool with the base. The locking piece is arranged on the base and limits the fixed limiting part on the base by being connected with the fixed limiting part. The pyrotechnic cutter is arranged on the base and is used for disconnecting the connection between the fixed limiting part and the locking piece. The tool is rigidly supported by the fixed limiting part, and the tool is floatingly supported by the movable limiting part. The movable limiting part buffers the upward impact load in the launching stage of the fixed limiting part, ensures that the fixing device can bear the vibration impact load in the upward process, reduces the number of pyrotechnic cutters required by a single tool, and relieves the situation of the shortage of electric interface resources of a spacecraft.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aerospace technology, in particular to a on-orbit servicing tool fixing device. BACKGROUND

[0002] With the rapid development of on-orbit servicing technology of spacecraft, the space manipulator equipped with multiple end effectors has become a development trend of on-orbit servicing, and the uplink and on-orbit anti-drifting of multiple end effectors have become a technical problem to be solved urgently.

[0003] At present, the traditional compression method of compressing a single end effector by multiple pyrotechnics requires multiple pyrotechnic electrical interfaces, and can only meet the one-time fixing uplink, which causes great waste of spacecraft whole-star electrical interfaces and uplink resources. Therefore, there is an urgent need for an end tool fixing device for on-orbit servicing. SUMMARY

[0004] The present application provides a on-orbit servicing tool fixing device to solve the problem of waste of spacecraft whole-star electrical interfaces and uplink resources caused by the fixing method of compressing a single end effector by multiple pyrotechnics in the prior art.

[0005] In one aspect, the present application provides a on-orbit servicing tool fixing device, comprising:

[0006] a base;

[0007] a limiting mechanism arranged on the base and limiting the tool on the base by being connected with the tool, the limiting mechanism comprising a fixed limiting part and a movable limiting part, the movable limiting part being used for detachably connecting the tool with the base;

[0008] a locking member arranged on the base and limiting the fixed limiting part on the base by being connected with the fixed limiting part;

[0009] a pyrotechnic cutter arranged on the base and used for disconnecting the connection between the fixed limiting part and the locking member.

[0010] In one possible design, the limiting mechanism comprises a plurality of limiting mechanisms, and the fixed limiting parts of all the limiting mechanisms are respectively connected with the locking member.

[0011] In one possible design, each limiting mechanism has a first position and a second position, the limiting mechanism connects the respective fixed limiting part with the locking member by moving to the first position, and all the limiting mechanisms have no intersection area in the orthogonal projection on the plane perpendicular to the preset direction by moving to the second position.

[0012] The movable limiting part can connect / separate the tool with the base by moving along the preset direction.

[0013] In a possible design, the movable limiting part includes at least two.

[0014] In a possible design, the movable limiting part includes:

[0015] The pin seat is arranged on the base and is formed with a pin hole;

[0016] The connecting lug is arranged on the base and is formed with a pin hole;

[0017] The first pin is capable of enabling the limiting mechanism to be located at the first position by being inserted into the pin hole along a preset direction;

[0018] The second pin is capable of enabling the limiting mechanism to be located at the second position by being inserted into the pin hole along a preset direction.

[0019] In a possible design, the pin seat is formed with a sliding channel, the sliding channel is in communication with the pin hole, and the movable limiting part further includes:

[0020] The top bead is arranged at one end of the sliding channel close to the pin hole and is in gap cooperation with the inner wall of the sliding channel;

[0021] The top screw is arranged at one end of the sliding channel away from the pin hole and is in threaded connection with the inner wall of the sliding channel;

[0022] The spring is arranged in the sliding channel, one end of the spring is in abutment with the top screw, and the other end of the spring is in abutment with the top bead.

[0023] In a possible design, the one end of the sliding channel close to the pin hole is formed with a spherical inner wall, the spherical inner wall is in abutment with the outer surface of the top bead.

[0024] In a possible design, the side wall of the first pin and the side wall of the second pin are respectively formed with a first ring groove, the groove bottom of the ring groove is in abutment with the outer surface of the top bead extending out of the sliding channel.

[0025] In a possible design, the side wall of the first pin is further formed with a second ring groove, the second ring groove is arranged at one side of the first ring groove close to the tip end of the first pin.

[0026] In a possible design, the fixed limiting part includes a connecting arm, one end of the connecting arm is arranged to be connected with the tool, and the other end of the connecting arm is formed with a connecting hole;

[0027] The locking member includes:

[0028] The pressing seat is arranged on the base;

[0029] The pressing cap is arranged on the connecting arm away from the base;

[0030] The pressing rod is arranged in the connecting hole, one end of the pressing rod is connected with the pressing seat, and the other end of the pressing rod is connected with the pressing cap.

[0031] The beneficial effects of the present application are as follows:

[0032] The on-orbit service tool fixing device of the present application rigidly supports the tool through the fixed limiting part, and floatingly supports the tool through the movable limiting part, so that the fixed limiting part and the movable limiting part can jointly press the tool on the base during the on-orbit process of the spacecraft. On the one hand, the movable limiting part buffers the upward impact load in the launch stage for the fixed limiting part, ensures that the fixing device can withstand the vibration impact load in the on-orbit process, and also effectively reduces the number of pyrotechnic cutters required by a single tool, and relieves the situation of tight spacecraft electrical interface resources. On the other hand, the movable limiting part can also realize floating limiting of the tool when the spacecraft is in the on-orbit state, so as to facilitate the mechanical arm to grasp the tool to realize the taking and placing of the tool on the base. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the specific embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0034] Figure 1 The front view of the on-orbit service tool fixing device provided by the embodiment of the present application;

[0035] Figure 2 The top view of the on-orbit service tool fixing device provided by the embodiment of the present application in the on-orbit stage;

[0036] Figure 3 The top view of the on-orbit service tool fixing device provided by the embodiment of the present application in the on-orbit stage;

[0037] Figure 4 The sectional view of the on-orbit service tool fixing device provided by the embodiment of the present application;

[0038] Figure 5 The structure diagram of the locking part of the on-orbit service tool fixing device provided by the embodiment of the present application;

[0039] Figure 6 The structure diagram of the first bolt of the on-orbit service tool fixing device provided by the embodiment of the present application;

[0040] Figure 7 The structure diagram of the second bolt of the on-orbit service tool fixing device provided by the embodiment of the present application.

[0041] Reference signs:

[0042] 100. Base; 110. Intermediate connecting plate; 200. Limiting mechanism; 210. Fixed limiting part; 211. Connecting arm; 2111. Connecting hole; 220. Movable limiting part; 221. Pin seat; 2211. Pin hole; 2212. Slide rail; 222. Connecting ear; 223. First pin; 224. Second pin; 225. Top ball; 226. Top screw; 227. Spring; 228. Spherical inner wall; 2291. First annular groove; 2292. Second annular groove; 300. Locking fastener; 310. Pressing seat; 320. Pressing cap; 330. Pressing rod; 400. Firework cutter; 510. Conical recess; 520. Conical protrusion; 530. Conical opening; 600. Tool. Detailed Implementation

[0043] The technical solutions of this application will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] The following is combined with Figures 1-7 This application describes the on-orbit service tool fixing device provided in the embodiments of this application.

[0045] Reference Figure 1 As shown, this application provides an on-orbit servicing tool fixing device, including a base 100, a limiting mechanism 200, a locking device 300, and a pyrotechnic cutter 400. The base 100 is mounted on the exterior of the spacecraft cabin. The limiting mechanism 200 is disposed on the base 100 and is connected to the tool 600 to limit the tool to the base 100. The limiting mechanism 200 includes a fixed limiting part 210 and a movable limiting part 220. The movable limiting part 220 is used to detachably connect the tool to the base 100. The locking device 300 is disposed on the base 100 and, through connection with the fixed limiting part 210, limits the fixed limiting part 210 to the base 100. The pyrotechnic cutter 400 is disposed on the base 100 and is used to disconnect the connection between the fixed limiting part 210 and the locking device 300. (Refer to...) Figure 4As shown, in some embodiments, the fixed limiting part 210 includes a connecting arm 211, one end of the connecting arm 211 is connected with the tool bolt, and the other end of the connecting arm 211 is provided with a connecting hole 2111 for connecting with the locking member 300; the locking member 300 includes a pressing seat 310, a pressing cap 320 and a pressing rod 330, the pressing seat 310 is installed on the base 100; the pressing cap 320 is installed on the connecting arm 211 by bolts; the pressing rod 330 is arranged in the connecting hole 2111 in a direction perpendicular to the base 100, one end of the pressing rod 330 is connected with the pressing seat 310, and the other end of the pressing rod 330 is connected with the pressing cap 320; the pyrotechnic cutter 400 is installed on the pressing seat 310; in the ascent stage of the spacecraft, under the pulling of the pressing rod 330, the pressing cap 320 tightly presses and fixes the connecting arm 211 on the pressing seat 310, so that the movable limiting part 220 and the connecting arm 211 together fix the tool on the base 100; in the on-orbit stage of the spacecraft, the pyrotechnic cutter 400 cuts off the pressing rod 330 by using high-temperature and high-pressure flame and spraying high-speed iron oxide powder to form high-temperature reaction, so that the connecting arm 211 loses the limiting along the length direction of the pressing rod 330, the connecting arm 211 loses the limiting effect, and only the movable limiting part 220 fixes the tool to prevent the tool from separating from the base 100 in the weightlessness state. In some embodiments, the movable limiting part 220 is a plug-in mechanism, which facilitates the taking and placing of the tool on the base 100.

[0046] By using the technical solutions provided in the above embodiments, the fixed limiting part 210 is arranged to rigidly support the tool, and the movable limiting part 220 is arranged to floatingly support the tool, so that in the ascent process of the spacecraft, the fixed limiting part 210 and the movable limiting part 220 can together tightly press the tool on the base 100. On the one hand, the movable limiting part 220 buffers the upward impact load in the launch stage for the fixed limiting part 210, ensures that the fixed device can withstand the vibration impact load in the ascent process, and also effectively reduces the number of pyrotechnic cutters 400 required by a single tool, and relieves the situation of tight electrical interface resources of the spacecraft; on the other hand, the movable limiting part 220 can also realize floating limiting of the tool in the on-orbit state of the spacecraft, which facilitates the mechanical arm to grasp the tool to realize the taking and placing of the tool on the base 100.

[0047] Referring to Figure 2 , Figure 4As shown, in some embodiments of this application, the limiting mechanism 200 includes multiple limiting mechanisms. For example, the number of limiting mechanisms 200 can be two, three, four, etc. The fixing limiting part 210 of all limiting mechanisms 200 is connected to the locking device 300 respectively. In this way, it is possible to fix multiple tools at the same time with one locking device 300, reducing the number of pyrotechnic components required for a single tool. In some specific embodiments, the limiting mechanism 200 includes two mechanisms, both of which are disposed on the same base 100. The base 100 is elliptical and has a central connecting plate 110. The two limiting mechanisms 200 are respectively disposed on the left and right sides of the central connecting plate 110. A locking seat is mounted on the central connecting plate 110, and the pyrotechnic cutter 400 is disposed on the locking seat. The connecting arms 211 of the two limiting mechanisms 200 are respectively disposed above the same locking seat, so that the locking rod passes through the connecting hole 2111 of the connecting arm 211, and the locking cap is pressed onto the uppermost connecting arm 211. The movable limiting parts 220 of the two limiting mechanisms 200 are respectively disposed at the edge positions of the corresponding sides of the base 100. In this way, the two limiting mechanisms 200 can share a single locking fastener 300, effectively reducing the number of pyrotechnic cutters 400 required to fix a single tool and alleviating the shortage of spacecraft electrical interface resources. (Refer to...) Figure 5 As shown, in some specific embodiments, the lower end face of the connecting arm 211 away from the clamping seat 310 is provided with a tapered recess 510, and the upper and lower end faces of the connecting arm 211 near the clamping seat 310 are respectively provided with tapered protrusions 520. The upper end face of the clamping seat 310 is provided with a tapered opening 530. In this way, the clamping seat 310 and the connecting arm 211 are fitted together by the tapered protrusions 520 and the tapered opening 530, and the two connecting arms 211 are fitted together by the tapered recesses 510 and the tapered protrusions 520. This enables quick connection between the clamping seat 310 and the connecting arm 211, and between the two connecting arms 211, while also preventing axial misalignment of the two connecting arms 211 relative to the clamping seat 310.

[0048] Reference Figure 2 , Figure 3 As shown, in some embodiments of this application, each limiting mechanism 200 has a first position ( Figure 2 (as shown in the image) and second position ( Figure 3(as shown in the diagram), the limiting mechanism 200 moves to the first position, causing its respective fixed limiting part 210 to connect with the locking fastener 300; the limiting mechanism 200 moves to the second position, causing the orthographic projections of all the limiting mechanisms 200 on a plane perpendicular to the preset direction to be completely non-overlapping; the movable limiting part 220 moves along the preset direction, enabling the tool to connect / disconnect from the base 100. Specifically, the preset direction is the height direction of the base 100; it should be noted that the robotic arm is limited by the on-orbit working space, and the movements that the robotic arm can perform are relatively limited. Therefore, by moving the limiting mechanism 200 from the first position (… Figure 2 Move from the position shown to the second position. Figure 3 (As shown in the diagram), this configuration ensures that each tool and its limiting mechanism 200 do not collide during the tool handling process by the robotic arm. Specifically, after the robotic arm first connects to the end effector on the tool, it will move the tool away from the base 100 along the height direction of the base 100, separating the tool from the base 100. Then, it will rotate the tool, thereby rotating the limiting mechanism 200 as a whole, from the first position to the second position. At this time, since the orthographic projections of all the limiting mechanisms 200 on the plane perpendicular to the height direction of the base 100 are completely non-overlapping, collisions between the tool and its limiting mechanism 200 during the tool handling process by the robotic arm can be effectively avoided.

[0049] Reference Figure 2 As shown, in some embodiments of this application, the movable limiting part 220 includes at least two. Thus, during the spacecraft's ascent phase, each tool is connected to two movable limiting parts 220 and one fixed limiting part 210 respectively, forming a triangular fixed structure to ensure that the tool can withstand the vibration and impact loads during the ascent process; during the spacecraft's on-orbit phase, the fixed limiting part 210 loses its limiting function after the pyrotechnic cutter 400 is activated, leaving two movable limiting parts 220. The two movable limiting parts 220 can form a two-point limiting for the tool, preventing the tool from drifting on the base 100.

[0050] Reference Figure 2 , Figure 3 , Figure 4As shown, in some embodiments of the present application, the activity limiting part 220 includes a latch seat 221 and a connecting lug 222, the latch seat 221 is installed on the base 100 and is formed with a latch hole 2211; the connecting lug 222 is connected with the tool through a bolt, and the connecting lug 222 is provided with a first latch 223 and a second latch 224; the first latch 223 can make the limiting mechanism 200 be located at the first position by being inserted into the latch hole 2211 along the height direction of the base 100; the second latch 224 can make the limiting mechanism 200 be located at the second position by being inserted into the latch hole 2211 along the height direction of the base 100. In one specific embodiment, the connecting lug 222 is in the shape of “V”, the first latch 223 and the second latch 224 are respectively installed at the two ends of the “V” shaped connecting lug 222; in the on-orbit stage of the spacecraft, the first latch 223 is inserted into the latch hole 2211; in the on-orbit stage of the spacecraft, the mechanical arm pulls out the first latch 223 from the latch hole 2211 along the height direction of the base 100, and then rotates the tool around the central axis by a preset angle, which can make the second latch 224 be located directly above the latch hole 2211, and then the mechanical arm inserts the second latch 224 into the latch hole 2211 along the height direction of the base 100. In some specific embodiments, each tool is respectively connected with two connecting lugs 222, and the two connecting lugs 222 are respectively distributed on the two sides of the tool, and the first latch 223 and the second latch 224 are respectively arranged on each connecting lug 222, the connecting line of the center points of the end face circles of the two first latches 223 passes through the center of mass of the tool, and the connecting line of the center points of the end face circles of the two second latches 224 also passes through the center of mass of the tool, specifically, the included angle between the two connecting lines is greater than or equal to 30 degrees, for example, the included angle between the two connecting lines is 30 degrees, in this way, the mechanical arm can insert the second latch 224 into the latch hole 2211 by rotating 30 degrees around the center of mass of the tool, so that the two tools are separated from each other in the on-orbit stage, and the mutual collision of the tools in the picking and placing process is prevented. In another specific embodiment, the straight line where the central axis of the connecting arm 211 is located also passes through the center of mass of the tool, in this way, the three straight lines all pass through the center of mass of the tool, which is beneficial to keep the force arm of the tool short and reduce the risk of breaking of the connecting arm 211 and the connecting lug 222. In some specific embodiments, the end part of the latch seat 221 corresponding to the latch hole 2211 is a tapered hole structure, the diameter of the end part of the tapered hole is greater than or equal to 20 mm, so as to adapt to the positioning tolerance of ±10 mm of the end of the mechanical arm, and the taper angle of the tapered hole is less than or equal to 90 degrees, so that the lateral force in the downward sliding process of the first latch 223 or the second latch 224 is greater than the support reaction force, which can reduce the driving force required in the downward movement of the mechanical arm grabbing the tool; the lower end of the first latch 223 and the second latch 224 is in the shape of a conical tip, which is beneficial to quickly insert the first latch 223 or the second latch 224 into the latch hole 2211.

[0051] Referring to Figure 6、 Figure 7 As shown, in some embodiments, the latch seat 221 is provided with a sliding channel 2212, which is in communication with the latch hole 2211. The movable limiting part 220 further comprises a top bead 225, a top screw 226 and a spring 227. The top bead 225 is arranged at one end of the sliding channel 2212 close to the latch hole 2211 and is in clearance fit with the inner wall of the sliding channel 2212. The top screw 226 is arranged at the other end of the sliding channel 2212 away from the latch hole 2211 and is in threaded connection with the inner wall of the sliding channel 2212. The spring 227 is arranged in the sliding channel 2212 and one end of the spring 227 is in abutment with the top screw 226 and the other end of the spring 227 is in abutment with the top bead 225. In some embodiments, the sliding channels 2212 are distributed circumferentially along the latch hole 2211, for example, the number of the sliding channels 2212 is three and the axis of each sliding channel 2212 is perpendicular to the axis of the latch hole 2211. When the first latch 223 or the second latch 224 is inserted into the latch hole 2211, the top bead 225 can provide radial pressure for the first latch 223 or the second latch 224 to prevent the first latch 223 or the second latch 224 from being pulled out of the latch hole 2211 under the elastic force of the spring 227. In some embodiments, the one end of the sliding channel 2212 close to the latch hole 2211 is formed with a spherical inner wall 228, which is in abutment with the outer surface of the top bead 225. Thus, under the limitation of the spherical inner wall 228, the top bead 225 is always located in the sliding channel 2212, preventing the top bead 225 from being pulled out of the sliding channel 2212 after the first latch 223 or the second latch 224 is pulled out of the latch hole 2211.

[0052] Referring to Figure 6 、 Figure 7 As shown, in some embodiments of the present application, the side wall of the first latch 223 and the second latch 224 is respectively provided with a first annular groove 2291, and the groove bottom of the annular groove is in abutment with the outer surface of the top bead 225 extending out of the sliding channel 2212. In this way, each top bead 225 can be in abutment with the groove bottom of the first annular groove 2291, so that the inner wall of the first annular groove 2291 plays a limiting role on the top bead 225, so that the top bead 225 can better provide radial pressure for the first latch 223 or the second latch 224 to prevent the first latch 223 or the second latch 224 from being pulled out of the latch hole 2211.

[0053] Referring to Figure 6As shown, in some embodiments of the present application, a second annular groove 2292 is also formed on the sidewall of the first latch 223, and the second annular groove 2292 is arranged on one side of the first annular groove 2291 close to the tip of the first latch 223. Specifically, the first annular groove 2291 and the second annular groove 2292 are spaced apart by a certain distance. After the compression rod 330 is cut by the pyrotechnic cutter 400, a certain instantaneous impact force will be generated, and the connecting arm 211 connected to the compression cap 320 will have a tendency to move upward. At this time, the inner wall of the first annular groove 2291 of the first latch 223 will extrude the top bead 225, and the top bead 225 will compress the spring 227 to absorb the energy generated by the impact. After the first latch 223 moves upward by a certain distance, the top bead 225 slides into the second annular groove 2292 of the first latch 223, and the first latch 223 is again provided with radial pressure to prevent the first latch 223 from continuing to move upward, thereby preventing the first latch 223 from being completely pulled out of the latch hole 2211 due to excessive impact force during the release and separation process, and preventing the tool from drifting away and other accidents from occurring.

[0054] The working process of the on-orbit service tool fixing device of the present application is as follows:

[0055] Referring to Figure 2 As shown, before the spacecraft is launched upward, the two connecting arms 211 are compressed on the compression seat 310 by the compression rod 330, and the connecting arm 211 of the right tool is located at the uppermost position, so that the left tool 600 and the right tool 600 are fixed to the base 100 with high stiffness, and the latch seat 221 is connected to the base 100 with weak stiffness and floating;

[0056] When the spacecraft is launched into the predetermined orbit, the pyrotechnic cutter 400 is initiated to cut off the compression rod 330, and at the same time, the connecting arm 211 is released, so that the left tool and the right tool have the freedom of movement along the height direction of the base 100. When the pyrotechnic cutter 400 cuts off the compression rod 330, the compression cap 320 drives the connecting arm 211 to move upward under the action of the initiation cutting impact force. At this time, the top bead 225 that compresses the first latch 223 can enter the second annular groove 2292 from the first annular groove 2291, and the first latch 223 is prevented from being completely pulled out of the latch seat 221;

[0057] Referring to Figure 3As shown, after the spacecraft is in orbit, when the manipulator first grabs the end tool to carry out on-orbit service, the manipulator first grabs the end adapter on the right tool, pulls out the right tool and the connecting lug 222 connected with the right tool along the height direction of the base 100, and then rotates by a certain angle and is reinserted into the corresponding pin seat 221, completing the on-orbit storage of the right tool; the manipulator then grabs the left tool, pulls out the left tool and the connecting lug 222 connected with the left tool along the height direction of the base 100, and rotates by a certain angle and is reinserted into the corresponding pin seat 221, completing the on-orbit storage of the left tool and the right tool.

[0058] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0059] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0060] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected or can communicate with each other; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0061] In this application, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" mean that a particular feature, structure, material, or characteristic is included in at least one embodiment or example of the present application. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Moreover, the terms "first", "second", "third", etc. are used herein to describe various embodiments or examples and are not necessarily intended to denote a particular order, position, or priority of the elements being described. In addition, the terms "comprises", "comprising", "includes", "including", "has", "having", "contains", "containing", or any other similar word(s), are intended to be inclusive or open ended and not restrictive or exhaustive. In other words, the terms "comprises", "comprising", "includes", "including", "has", "having", "contains", "containing", or any other similar word(s), are intended to cover a special embodiment or example, but not exclude other embodiments or examples. In addition, the terms "an" and "one" are intended to be inclusive or open ended and not restrictive or exhaustive. In other words, the terms "an" and "one" are intended to cover both the singular aspect and the plural aspect, unless the context clearly indicates otherwise.

[0062] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary, and are not to be interpreted as limiting the present application, and that the ordinary skilled person in the art can make changes, modifications, replacements, and variations to the above-described embodiments within the scope of the present application.

Claims

1. An on-orbit servicing tool fixture, comprising: The utility model relates to a tool limiting device, including: a base; a limiting mechanism arranged on the base, which limits the tool on the base by connecting with the tool, the limiting mechanism includes fixed limiting part and movable limiting part, the movable limiting part is used for making the tool with the base detachable connection; a locking piece arranged on the base, which limits the fixed limiting part on the base by connecting with the fixed limiting part; a pyrotechnic cutter arranged on the base, which is used for disconnecting the connection between the fixed limiting part and the locking piece; the limiting mechanism has first position and second position respectively, the limiting mechanism makes the fixed limiting part connect with the locking piece respectively by moving to first position, the limiting mechanism makes all the limiting mechanism's orthographic projection on the plane perpendicular to the preset direction has no intersection area by moving to second position; the movable limiting part can make the tool connect / separate with the base by moving along the preset direction.

2. The on-orbit servicing tool fixture of claim 1, wherein: The limiting mechanism includes a plurality, and the fixed limiting part of all the limiting mechanism connects with the locking piece respectively.

3. The on-orbit servicing tool fixture of claim 1, wherein: The movable limiting part includes at least two.

4. The on-orbit servicing tool fixture of any of claims 1-3, wherein, The movable limiting part includes: a bolt seat arranged on the base, which is formed with a bolt hole; a connecting lug for connecting with the tool, the connecting lug is provided with a first bolt and a second bolt; the first bolt can make the limiting mechanism be located in the first position by inserting into the bolt hole along the preset direction; the second bolt can make the limiting mechanism be located in the second position by inserting into the bolt hole along the preset direction.

5. The on-orbit servicing tool fixture of claim 4, wherein, A slide is opened on the bolt seat, the slide is communicated with the bolt hole, and the movable limiting part further includes: a top bead arranged on one end of the slide close to the bolt hole, which is gap-fitted with the inner wall of the slide; a top wire arranged on the other end of the slide away from the bolt hole, which is threadedly connected with the inner wall of the slide; a spring arranged in the slide, one end of which is abutted with the top wire, and the other end of which is abutted with the top bead.

6. The on-orbit servicing tool fixture of claim 5, wherein: The slide is formed with a spherical inner wall on one end close to the bolt hole, and the spherical inner wall is abutted with the outer surface of the top bead.

7. The on-orbit servicing tool fixture of claim 5, wherein: First ring grooves are respectively opened on the side walls of the first bolt and the second bolt, and the groove bottoms of the ring grooves are abutted with the outer surface of the top bead extending out of the slide.

8. The on-orbit servicing tool fixture of claim 7, wherein: A second ring groove is also opened on the side wall of the first bolt, which is arranged on one side of the first ring groove close to the tip of the first bolt.

9. The on-orbit servicing tool fixture of any of claims 1-3, wherein, The fixed limiting part includes a connecting arm, one end of the connecting arm is used for connecting with the tool, and a connecting hole is opened on the other end of the connecting arm; The locking piece includes: a pressing seat arranged on the base; a pressing cap arranged on the connecting arm away from the base; a pressing rod penetrating through the connecting hole, one end of which is connected with the pressing seat, and the other end of which is connected with the pressing cap.

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